CN103991463B - A kind of low speed magnetic floating track irregularity detection method based on dual sensor - Google Patents
A kind of low speed magnetic floating track irregularity detection method based on dual sensor Download PDFInfo
- Publication number
- CN103991463B CN103991463B CN201410145479.8A CN201410145479A CN103991463B CN 103991463 B CN103991463 B CN 103991463B CN 201410145479 A CN201410145479 A CN 201410145479A CN 103991463 B CN103991463 B CN 103991463B
- Authority
- CN
- China
- Prior art keywords
- track
- irregularity
- telecontrol equipment
- sensor
- value
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired - Fee Related
Links
Landscapes
- Control Of Vehicles With Linear Motors And Vehicles That Are Magnetically Levitated (AREA)
Abstract
The invention discloses a kind of low speed magnetic floating track irregularity detection method based on dual sensor. A telecontrol equipment end along orbital motion, two air gap sensors are installed, obtain orbit coordinate value by the rate integrating of telecontrol equipment, by the difference of front and back sensor is carried out to integration except the distance of front and back sensor is multiplied by the result that movement velocity obtains, obtain the irregularity value of track. The orbit coordinate of same time and the track irregularity value under the same time have just formed the irregularity curve of track, thereby obtain the track irregularity value under diverse location. By reducing sensor distance and telecontrol equipment lenth ratio and telecontrol equipment can move up and down air gap and telecontrol equipment lenth ratio or detected value is carried out to error correction by the rotation that detects telecontrol equipment. The system disturbance that the present invention can detect and bring for suppressing track irregularity as feedback quantity track irregularity degree for middle low-speed maglev train track engineering processing with in installing.
Description
Technical field
The present invention relates to middle low-speed maglev train system track detection and middle low-speed maglev train suspension controlDetection technique.
Background technology
1. in, low-speed maglev train suspension system is introduced
In middle low-speed maglev train, the form that suspension system adopts electromagnetic attraction to suspend, electromagnetic attraction suspendsSystem itself can not, from steady, need to adopt closed loop feedback control to make system stability. Middle low-speed maglev train suspendsSystem has the power supply of control, gap measurement sensor, suspension controller, suspension chopper circuit conventionally, electricity suspendsThe part such as magnet and track composition. Air gap sensors detects suspension air gap, suspension controller basisAir gap value calculate need adjust electromagnet current desired value, by suspension chopper circuit to levitating electromagnetElectric current is realized.
In middle low-speed maglev train, levitating electromagnet adopts U-shaped electromagnet structure, two side plate and floor ironForm U-shaped magnetic conduction magnetic circuit, in U-shaped groove, be wound around electromagnet coil. Suspension railway isShape track, itsIn cross out part be connected and fixed with sleeper, two sections of vertical portions are directly over U-shaped electromagnet side plate. RailRoad vertical portion and electromagnet side plate form closed magnetic circuit by suspension air gap. Electromagnet side plate and track are verticalThe width of part is 28mm. Adopting 28mm is while considering electromagnet generation laterally offset, electromagnet and railBetween road, can produce the guiding force that electromagnet is aligned again, this guiding force makes system at left and right directionsUpper from steady. Side plate width is unfavorable for greatly the generation of guiding force, and the little vertical electromagnetic attraction of width is little.
2, circuit irregularity
Refer to the inclined to one side of track geometry shape, size and locus at Rail Transit System middle orbit irregularityPoor, can be divided into vertical and horizontal two kinds according to direction. For middle low-speed maglev train system, verticalTrack irregularity is the key factor that affects system. Vertical track irregularity is in middle low-speed maglev train systemIn be not only to produce system vibration affect vehicle comfort type, and usually can cause suspension system unstability, productRaw serious consequence and harm.
Track irregularity is first because circuit and track laying etc. produce. The irregularity relevant to circuit withThe reason that traditional wheel track traffic system track irregularity produces is essentially identical. But for middle low speed magnetic floatingTrain, vertical irregularity is on the impact of system much larger than wheel rail system, and this is because vehicle suspension systemBe a systems stabilisation realizing by Closed-cycle correction, the irregularity that vertical direction gets on the right track can pass through air gapSensor is reflected in gap measurement value, and this irregularity can be equivalent to a system input disturbance. ForSuspension control system, its closed loop feedback control is the FEEDBACK CONTROL based on suspension air gap, in order to ensure to hangFloating air gap is stable, and system is very responsive to the variation of suspension air gap, the track irregularity value in gap measurement valueMay produce very large system exporting change by controller and electromagnet. System output may make to suspendSystem is vibrated even unstability. So magnetic-levitation train requires track to relax gradual change, the track of sudden change often makesObtain system unstability.
In middle low-speed maglev train, the irregularity that circuit brings mainly contains periodically track irregularity, randomIrregularity and local irregularity.
Cycle irregularity is mainly produced by track seam, and air gap sensors there will be during by track seamMaximum, the cycle of its generation is relevant with track length and train running speed. The comparison of this irregularity amplitudeGreatly, but change slowly, can effectively solve seam problem by the switching of multiple sensors.
Random irregularity, is caused by reasons such as track laying, maintenance, wearing and tearing, and this irregularity is in officeWhere side all can produce, and its amplitude is controlled it by construction quality. This irregularity is controlled system by suspensionSystem can produce random vibration, because amplitude is limited, can't cause the problem of system unstability.
Local irregularity, is the track irregularity producing in locality, and the generation of this irregularity may beUnreasonable structure when Track desigh or laying, such as easement curve sudden change, superelevation sudden change, there is folding in circuitThe reason such as line or flex point, may be also that partial orbit is loosening, rail damage or track have manufacturing defect etc.Cause.
For these three kinds of track irregularities, only periodicity irregularity is controlled to software place by suspension at presentReason. Random irregularity should be controlled the amplitude of its irregularity by the control of construction quality. Part is notSmooth-goingly should detect and be eliminated by detection means.
3, detection faces irregularity
Middle low-speed maglev train track irregularity except the circuit irregularity identical with wheel rail system, also have byThe irregularity causing in detection faces. Detection faces irregularity is the distinctive a kind of track of middle low-speed maglev train systemIrregularity, it is mainly because track shape error causes.
Distance between electromagnet and track is generally no more than 20mm, so the gas that air gap sensors need to detectGap scope is in 0～20mm left and right. Consider that air gap sensors detects the reason such as dead band and protection probe, realityMiddle detection faces arrives the distance of sensor probe in 4～24mm left and right. Air gap sensors mainly adopts current vortex to passSensor, the size of its probe size and detection faces is subject to the impact of detection range, and minimum dimension is outstanding at presentFloating sensor probe is in 35mm left and right. Obviously because suspension side plate only has 28mm wide, air gap sensors can notDistance between energy direct-detection electromagnet suspension face and track suspended face. In engineering conventionally by air gap sensorsBe arranged on electromagnet end, the horizontal bottom between track vertical portion is as detection faces, sensor probe withDetection faces near distance is seemingly thought the suspension air gap of electromagnet. Certainly such suspension air gap detected value and actual air gapMay there is certain error.
Analyze respectively error and main source thereof between gap measurement value and actual value below. By aboveAnalyze, can know and in electromagnetic suspension system, have four planes: track suspended face, electromagnet suspension face,Track detection faces and air gap sensors probe face, the wherein distance between track suspended face and electromagnet suspension faceBe actual air gap, the distance of track detection faces and air gap sensors detecting head surface is for detecting air gap.
In engineering reality, for cost-saving, only the track suspended face after rolling is processed trackDetection faces is not processed, and the suspension face of electromagnet also ensures precision and flatness by machining. SensorDetecting head surface area is little, its with relative electromagnet can think a test point. Sensor is directly pacifiedBe contained on electromagnet, solid and reliable, once installation, its detecting head surface and electromagnet suspension face itBetween distance be fixed value. Distance between electromagnet suspension face and track suspended face is actual air gap, due toDistance between detecting head surface and electromagnet suspension face is fixed, so sensor probe is to track suspended faceBetween distance and actual air gap between there is fixing difference relation.
If track adopts fine finishining, ensure that its suspension face is all very high with detection faces precision and flatness, bothBetween distance be also fixed value, detect so between air gap value and actual air gap value by sensor zeroValue is adjusted or the adjustment of installation of sensors position can be completely equal. But because track detection faces is larger, workAfter the rolling of journey middle orbit, it is not processed, so the precision of detection faces and flatness are all very poor, with railDistance between road suspension face can not ensure it is a fixed value, is a random value. Detect so actualAmong air gap, except actual suspension air gap, also exist the difference between track suspended face and detection faces to change.
The normally random irregularity of the irregularity of detection faces, but in some cases, as there is iron scar in detection facesDeng producing local irregularity.
Do not propose than more completely theoretical for the problem of middle low-speed maglev train track irregularity at presentAnd method, in practice also there are no the report that track irregularity is detected and fed back. The present invention proposesA kind of centering low-speed maglev train track irregularity principle and the method thereof that detect, by multiple sensingsPace of change and the acceleration of the difference between device and train speed observation track irregularity.
Summary of the invention
In view of the above deficiency of prior art, the object of this invention is to provide a kind of low speed based on multisensorMagnetic levitation track irregularity detection method, makes it to be applied to middle low-speed maglev train track and detects in engineering, to send outShow the local irregularity point in circuit and control random irregularity amplitude, ensureing line quality. Secondly, canTrack irregularity detection limit is sent into suspension control system and carry out FEEDBACK CONTROL, suppress track by control algolithmThe disturbance that irregularity brings system.
The object of the invention is to realize by following means.
A low speed magnetic floating track irregularity detection method based on dual sensor, carries out dynamically magnetic levitation trackMake an inspection tour find the local irregularity point in circuit and control random irregularity amplitude, comprise following means:A) in the telecontrol equipment end along orbital motion, two air gap sensors, i.e. front sensor and rear sensing are installedDevice; B) obtain the air gap difference of described two sensors, using telecontrol equipment velocity product score value as orbit coordinate,Before and after the direction of motion, the product of sensor difference and speed is divided by the distance of front and back sensor, and the result obtaining is enteredRow integration is as track irregularity value, the track irregularity value of corresponding same time of same Time Orbiting coordinate;C) record result b) or be delivered to state observation and the feedback of follow-up magnetic floating train suspending control systemControl module.
Adopt method of the present invention, can two gas be installed along the telecontrol equipment end of orbital motion at oneGap detecting sensor, telecontrol equipment moves with certain speed along track suspended face, when the comparison of device amount of spinHour, track irregularity value time differential is approximately equal to the difference quadrupler of adjacent air gap sensors soThe direction along ng a path speed of service is divided by the distance of adjacent air gap sensors.
The general principle detecting in this first elaboration system. According to Fig. 2, telecontrol equipment along track with speedMotion v, telecontrol equipment one end is provided with two sensors, two sensors L apart, telecontrol equipment overall length l,Telecontrol equipment length l " L. Choose any fully-flattened as x axle.
The position that sensor is positioned at x axle is respectively x1、x2, the detected value of sensor is respectivelySuppose to detect accurately, there is no error, the distance of sensor distance track detection faces is respectively so
Telecontrol equipment has translation and rotates two kinds in x-y plane with respect to fully-flattened, with x1Detecting head surfaceWith x wheelbase from py (x1) represent that the translation amount of telecontrol equipment, telecontrol equipment and x axle clamp angle α represent motionThe amount of spin of device. If telecontrol equipment meetsRelation, the so rotary angle of telecontrol equipmentSpend limitedly, amount of spin is little, can be similar to and think
The distance of orbital distance x axle (any one fully-flattened) is y (x), considers its derivative for the time,At x1The distance of position track and x axle is y (x1)＝py(x1)+y(x1) at x2Position railThe distance of road and x axle isThe movement velocity of telecontrol equipment
If need the track length detecting to be far longer than the distance between sensor, can be similar to as follows soThink
So
The difference that can find out two sensors from formula can reflect that track irregularity changes at time shaftSpeed, dy (x2) be equivalent to detect error amount. According to analyzing aboveWherein YmThe vertical ultimate range that moving object can be moved, Y concerning suspending modulemEqual its maximum floating gasGap. SoBy controllingCan reduce error amount, if l " L can thinkdy(x2) ≈ 0. Certainly dy (x,2) also can examine by corresponding angular transducer is installed on telecontrol equipmentAfter survey, revised.
Work as l " L, can thinkHere it is track irregularity detection side of the present inventionThe general principle of method.
Based on above-mentioned principle, a device end of moving along orbital direction, two air gap sensings are installedDevice, telecontrol equipment is along orbital motion, by rate integrating being obtained to the coordinate of track, by rightNamely in the direction of motion difference quadrupler of front sensor and rear sensor along track sideCarry out integration to the speed of service divided by the distance of adjacent air gap sensors and obtain track irregularity value, for the moment sameBetween the track irregularity value that calculates under corresponding same time of orbit coordinate of obtaining of lower rate integrating, like thisJust can obtain the track irregularity value under different orbital positions.
There are two kinds of methods for the track irregularity value correction observing.
One method, according to analysis aboveBy increasing the length of telecontrol equipment or itsHis method, reduces upper and lower movable gas reducing the ratio of dual sensor distance and telecontrol equipment length whenThe ratio of gap value and telecontrol equipment length, can ignore thereby make telecontrol equipment rotate the error causing.
Another kind method is in aforementioned b) step, carries out the detection of the rotation to telecontrol equipment simultaneously, passes throughdy(x2) ≈ α L revises error amount. Correction value equals rotational angle and the sensor distance of telecontrol equipmentProduct. Track irregularity value is that in the direction of motion, the difference of front sensor and rear sensor deducts after correction valueThe quadrupler direction along ng a path speed of service is carried out integration divided by the distance of adjacent air gap sensors.
Brief description of the drawings
Fig. 1 isShape track and U-shaped electromagnet sectional view.
Fig. 2 is that two sensors detects track irregularity schematic diagram. In figure: track 1, sensor 2, motion mouldPiece 3.
Detailed description of the invention
Embodiment mono-
In middle low-speed maglev train, the end of single suspending module is installed one group of suspended sensor conventionally, whereinOften there are two to three air gap sensors, suppose that the distance of neighboring sensors probe is L. Suspension control systemCan obtain the speed of service of train by vehicle-mounted control network, the namely speed of service of suspending module, vacationBe made as v. The length of suspending module is assumed to be l.
Suppose that adjacent probe detected value is(front) and(afterwards), keep suspended state operation at train soTime, to adjacent probe detected valueV carries out online acquisition with train running speed data. So canThink that the differential of irregularity value of track equalsIts error amount is v α, and α represents turning of suspending moduleMoving angle.
A certain suspension system, in the time that system suspension is stablized, according to suspension system requirement, the fluctuation of suspension air gapBe not more than ± 2mm, if the distance of neighboring sensors probe is not more than 140mm, suspending module length is2800mm, so the rotational angle of suspending module be not more than ± 7.14 ‰, between adjacent probe due to rotate produceThe error 0.1mm that causes of air gap difference, this value is concerning suspension control system and little, so due to outstandingThe floating module irregularity observation error causing that rotates can be ignored. Distance before and after system between sensorBe far smaller than the length of telecontrol equipment, the upper and lower movable air gap value of telecontrol equipment is also far smaller than motion simultaneouslyThe length of device.
By rightIntegration can observe the irregularity value of track, it is carried out to corresponding feedback controlSystem, disturbance system being caused to suppress track irregularity.
Embodiment bis-
Adopt track irregularity checkout gear, device is installed two air gap sensors and surveys that distance is LSpeed sensor, installs level angle checkout gear simultaneously and changes for detection of the angle of device. Device is along railRoad operation, supposes that detection speed is v, and air gap sensors detected value is(front) and(afterwards). So withThe integration amount of speed v is as abscissa,Integration amount as ordinate, just canObtain track irregularity figure, thereby realize the detection to track irregularity.
Claims (3)
1. the low speed magnetic floating track irregularity detection method based on dual sensor, carries out magnetic levitation trackDynamically make an inspection tour to find the local irregularity point in circuit and to control random irregularity amplitude, comprise following handSection: a) two air gap sensors are installed in telecontrol equipment end along orbital motion, front sensor and afterSensor; B) obtain the air gap difference of described dual sensor, telecontrol equipment velocity product score value is sat as trackMark, before and after the direction of motion, the air gap difference of sensor and the product of speed, divided by the distance of front and back sensor, obtainTo result carry out integration as track irregularity value, the track of corresponding same time of same Time Orbiting coordinateIrregularity value; C) record result b) or be delivered to the State Viewpoint of follow-up magnetic floating train suspending control systemSurvey and feedback control unit.
2. a kind of low speed magnetic floating track irregularity based on dual sensor according to claim 1 detectsMethod, is characterized in that: the distance between the sensor of front and back is less than the length of telecontrol equipment, simultaneously motionThe upper and lower movable air gap value of device, also much smaller than the length of telecontrol equipment, makes the telecontrol equipment angle that rotatesSpend very littlely, rotate the error amount that causes and can ignore.
3. a kind of low speed magnetic floating track irregularity based on dual sensor according to claim 1 detectsMethod, is characterized in that, carries out the amount of spin of telecontrol equipment to detect in b) step simultaneously, adopts angle of rotationDegree is revised the track irregularity value observing, and correction value is that rotational angle is multiplied by dual sensor distance,Track irregularity value is before sensor difference deducts and removes with the product of speed after correction value before and after the direction of motionAfter the distance of rear sensor, carry out integration.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410145479.8A CN103991463B (en) | 2014-04-11 | 2014-04-11 | A kind of low speed magnetic floating track irregularity detection method based on dual sensor |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410145479.8A CN103991463B (en) | 2014-04-11 | 2014-04-11 | A kind of low speed magnetic floating track irregularity detection method based on dual sensor |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN103991463A CN103991463A (en) | 2014-08-20 |
| CN103991463B true CN103991463B (en) | 2016-05-25 |
Family
ID=51305875
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201410145479.8A Expired - Fee Related CN103991463B (en) | 2014-04-11 | 2014-04-11 | A kind of low speed magnetic floating track irregularity detection method based on dual sensor |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN103991463B (en) |
Families Citing this family (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106809251B (en) * | 2015-12-02 | 2019-09-27 | 北京控股磁悬浮技术发展有限公司 | The monitoring of magnetic suspension train rail irregularity and prediction technique, device and system |
| CN106080658B (en) * | 2016-07-13 | 2018-04-17 | 同济大学 | A kind of medium-and low-speed maglev track irregularity detection method based on four sensors |
| CN107433961A (en) * | 2017-07-06 | 2017-12-05 | 湖南凌翔磁浮科技有限责任公司 | A kind of Permanent Magnet and Electric magnetic-type magnetic-levitation train is crossing the suspension control algolithm of steps of track |
| CN109229138B (en) * | 2018-10-25 | 2023-05-16 | 湖南根轨迹智能科技有限公司 | Rail panel vibration detection device for medium-low speed maglev train |
| CN110395118B (en) * | 2019-08-14 | 2021-02-02 | 湖南磁浮技术研究中心有限公司 | Suspension control strategy for rail dislocation at joint of magnetic suspension train passing rail |
| CN112193080B (en) * | 2020-10-14 | 2021-12-17 | 中车株洲电力机车有限公司 | Attitude detection system, attitude detection method, computer device, and storage medium |
| CN112590559B (en) * | 2021-01-04 | 2022-03-08 | 西南交通大学 | Configuration method for magnetic suspension track smoothness deviation chord survey |
Family Cites Families (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| GB1324073A (en) * | 1969-09-16 | 1973-07-18 | Plasser Bahnbaumasch Franz | Apparatus for measuring railway track parameters |
| DE3117971C2 (en) * | 1981-05-07 | 1984-06-07 | Messerschmitt-Bölkow-Blohm GmbH, 8012 Ottobrunn | Control for optimal performance adjustment of the air gap of electromagnetic levitation vehicles |
| JPH04372503A (en) * | 1991-06-19 | 1992-12-25 | Sumitomo Electric Ind Ltd | Magnet suspension for magnetic levitation carrier |
| CN1603188A (en) * | 2004-11-11 | 2005-04-06 | 上海交通大学 | Automatic detection sensor arrangement method of magnetic suspension rail |
| CN202022220U (en) * | 2011-01-21 | 2011-11-02 | 中南大学 | Three-point-form track irregularity measuring device |
| CN103522912B (en) * | 2013-10-17 | 2015-10-28 | 中国人民解放军国防科学技术大学 | The magnetic flux feedback suspension control method of EMS type low speed aerotrain and device |
-
2014
- 2014-04-11 CN CN201410145479.8A patent/CN103991463B/en not_active Expired - Fee Related
Also Published As
| Publication number | Publication date |
|---|---|
| CN103991463A (en) | 2014-08-20 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN103991463B (en) | A kind of low speed magnetic floating track irregularity detection method based on dual sensor | |
| CN106080658B (en) | A kind of medium-and low-speed maglev track irregularity detection method based on four sensors | |
| CA2580573C (en) | Diagnosis and state monitoring of junctions, crossings or crossroads and rail joints and track inhomogeneities by means of a rail vehicle | |
| CN109159672B (en) | Method and device for correcting lateral deviation of permanent magnet set in magnetic suspension traffic equipment | |
| CN202298394U (en) | Detection system for dynamically detecting track gauge of railway track | |
| CN106114553B (en) | The photoelectricity dynamic measurement method that a kind of railway detection car platform rocks | |
| CN109029228B (en) | System and method for measuring relative offset between rail vehicle and steel rail | |
| CN105190259A (en) | Transport rail system with weighing means | |
| CN110341831A (en) | The collaboration handling system and its complex navigation device of double-movement robot flexibility connection | |
| CN110525229A (en) | The compensation method and compensation system of medium-and low-speed maglev train levitation gap | |
| CN102490623B (en) | Suspension guide and traction device for magnetic-levitation train adopting V-shaped track and control method of suspension guide and traction device | |
| CN201136522Y (en) | Device for measuring dynamic displacement in transversal and vertical directions of rails of high speed rail | |
| WO2024000992A1 (en) | Steel rail grinding equipment based on high-pressure water jet technology, and operation method thereof | |
| AU2017325182A1 (en) | Vehicle for travelling along a linear route guideway | |
| CN106184268B (en) | A kind of active control anti-side roll method | |
| CN109000568A (en) | A kind of contactless measurement of rail superelevation | |
| KR20170122949A (en) | Trolly apparatus for measuring track irregularity having clinometer and insulation device on troll plate | |
| Xia et al. | Method of combining theoretical calculation with numerical simulation for analyzing effects of parameters on the Maglev vehicle-bridge system | |
| CN114413798B (en) | Device and method for detecting irregularity of superconducting electric magnetic suspension track | |
| CN106768236A (en) | Rail vehicle is weighed and adjusts spring and rate of wheel load reduction test system | |
| CN108020162B (en) | Rail gauge based on two-dimensional laser scanning and triangle principle and use method thereof | |
| CN205443825U (en) | Railway track inspection system based on IGPS | |
| JP2012192759A (en) | Method and apparatus for correcting rocking of inspection vehicle, and inspection method and apparatus | |
| CN103344445B (en) | Detecting platform of medium-low speed magnetic levitation line feed unit | |
| CN107433961A (en) | A kind of Permanent Magnet and Electric magnetic-type magnetic-levitation train is crossing the suspension control algolithm of steps of track |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20160525 Termination date: 20190411 |
|
| CF01 | Termination of patent right due to non-payment of annual fee |